Multi-robot systems (MRSs) have been widely studied due to their features as flexibility and intrinsic resilience. Classical approaches to multi-robot control are based on centralized architectures, which are very effective in terms of performance but require a central unit and/or complete communication among all robots. This feature might be difficult to meet in practical scenarios or might be undesirable when mobile robots are involved. Therefore, recent studies have been mainly focused on decentralized or distributed systems, as they are better scalable and safer than centralized ones. Decentralized algorithms applied to networked robots should find out control and communication problems such as controlling the MRS centroid and the formation.